Turbid water search and rescue system, method, device, and storage medium

Abstract

This application proposes a turbid water search and rescue system, method, device, and storage medium, relating to the field of underwater search and rescue technology. The system includes: a detection host and a control module. The detection host is connected to the control module via cables. The detection host contains an imaging module, a motion sensing module, and a water environment monitoring module. The imaging module is used to output collinearly polarized light and cross-polarized light in a time-division manner, and to receive the reflected light from the collinearly polarized light and cross-polarized light in a corresponding time-division manner, generating collinearly polarized light images and cross-polarized light images. The motion sensing module is used to detect the motion and attitude information of the detection host. The water environment monitoring module is used to detect the water environment information at the location of the detection host. The control module is used to determine search and rescue information based on the collinearly polarized light images, the cross-polarized light images, the detection information from the motion sensing module, and the detection information from the water environment monitoring module. This system can improve the accuracy and efficiency of underwater rescue in turbid water.

Description

Technical Field

[0001] This application relates to the field of underwater search and rescue technology, and in particular to a search and rescue system, method, device and storage medium for turbid water. Background Technology

[0002] Currently, underwater rescue primarily utilizes sonar and visible light cameras with supplemental lighting for detection and search. Sonar suffers from low resolution and complex operation, and human contour recognition requires specialized knowledge, making it quite difficult to use.

[0003] While visible light cameras with supplemental lighting can be used in clear water environments, the composition of underwater environments is often more complex during actual rescue operations. The water may be turbid, and light will be absorbed and scattered when it propagates in turbid water, causing the target information to be submerged in the background light. This makes it difficult to identify the rescue target from the captured image, thus failing to provide effective rescue reference. Summary of the Invention

[0004] In view of this, this application proposes a turbid water search and rescue system, method, apparatus and storage medium.

[0005] In a first aspect, this application provides a turbid water body search and rescue system, including: a detection host and a control module, wherein the detection host is connected to the control module via a cable, and the detection host is equipped with an imaging module, a motion sensing module and a water environment monitoring module;

[0006] The imaging module is used to output collinearly polarized light and cross-linearly polarized light in a time-division manner, and to receive the reflected light of collinearly polarized light and cross-linearly polarized light in a corresponding time-division manner, thereby generating collinearly polarized light images and cross-linearly polarized light images.

[0007] The motion sensing module is used to detect the motion and posture information of the detection host;

[0008] The water environment monitoring module is used to detect the water environment information at the location of the detection host, and the water environment information includes flow velocity information and water depth information;

[0009] The control module is used to obtain real-time underwater images based on the collinear polarized light image and the cross-linear polarized light image, determine the detection azimuth angle based on the motion and attitude information of the detection host, correct the flow velocity information based on the motion information of the detection host to obtain corrected flow velocity information, determine the position information of the detection host based on the water depth information and the cable length, and determine search and rescue information based on the real-time underwater image, the detection azimuth angle, the position information, and the corrected flow velocity information.

[0010] In one embodiment, the imaging module includes: a collinear polarization light emission module, a cross-linear polarization light emission module, a receiving module, and an adjustment module;

[0011] The collinear polarization light emission module includes a first emission light source and a collinear polarizer;

[0012] The cross-linear polarization light emission module includes a second emission light source and a cross-linear polarizer;

[0013] The receiving module includes a polarizer and a receiving camera;

[0014] The adjustment module is used to synchronously control the colinearly polarized light emission module and the cross-linearly polarized light emission module to adjust the emission angle.

[0015] In one embodiment, the motion sensing module includes: a motion sensor, a gyroscope, and an electronic compass;

[0016] The motion sensor is used to detect the motion information of the detection host;

[0017] The gyroscope and electronic compass work together to detect the attitude information of the detection host.

[0018] In one embodiment, the water environment monitoring module includes: a flow velocity sensor and a water depth sensor;

[0019] The flow velocity sensor is used to detect the flow velocity information at the location of the detection host.

[0020] The depth sensor is used to detect the water depth information at the location of the detection host.

[0021] In one embodiment, the water environment monitoring module further includes: a water temperature sensor;

[0022] The water temperature sensor is used to detect the water temperature information at the location of the detection host;

[0023] The control module is also used to determine the hypothermia information of the rescue target based on the water temperature information and the corrected flow rate information.

[0024] In one embodiment, the control module includes: a cable take-up and untake-down module, a cable measurement module, a processing module, and a display screen;

[0025] The cable take-up and take-down module is used to control the sending and receiving of cables between the detection host and the control module;

[0026] The cable measurement module is used to determine the length of the cable between the detection host and the control module;

[0027] The processing module is used to obtain a real-time underwater image based on the collinear polarized light image and the cross-linear polarized light image; determine the detection azimuth angle based on the motion and attitude information of the detection host; correct the flow velocity information based on the motion information of the detection host to obtain corrected flow velocity information; determine the position information of the detection host based on the water depth information and the cable length; and determine search and rescue information and control information for the display screen based on the real-time underwater image, the detection azimuth angle, the position information, and the corrected flow velocity information.

[0028] The display screen is used to display information based on the control information.

[0029] In one embodiment, the control module is located on the hull; the control module is also used to acquire the hull's state information, determine the target flow velocity information based on the hull's state information and the corrected flow velocity information, and correct the search and rescue information based on the target flow velocity information.

[0030] Secondly, this application also provides a method for searching and rescuing turbid water bodies, the method being performed based on the turbid water body search and rescue system described in the first aspect; the method includes:

[0031] Acquire the collinearly polarized light image, the cross-linearly polarized light image, the motion and attitude information of the detection host, and the water environment information;

[0032] The underwater real-time image is obtained based on the collinear polarized light image and the cross-linear polarized light image;

[0033] The detection azimuth angle is determined based on the motion and attitude information of the detection host.

[0034] The flow velocity information is corrected based on the motion information of the detection host to obtain corrected flow velocity information;

[0035] The location information of the detection host is determined based on the water depth information and the cable length.

[0036] Search and rescue information is determined based on the underwater real-time image, the detection azimuth angle, the location information, and the corrected flow velocity information.

[0037] Thirdly, this application also provides an electronic device, including a processor and a memory; the memory has a computer program stored thereon, wherein the computer program, when executed by the processor, implements the turbid water search and rescue method as described in the second aspect.

[0038] Fourthly, this application also provides a computer storage medium storing a computer program thereon, wherein the computer program, when executed by a processor, implements the turbid water search and rescue method as described in the second aspect.

[0039] The turbid water search and rescue system proposed in this application has the following advantages over related technologies:

[0040] 1. The turbid water search and rescue system of this application, by connecting the detection host to the control module via a cable, effectively avoids the problem of unstable wireless signal transmission and ensures the stability of the signal transmitted from the detection host to the control module. Simultaneously, by determining the cable length between the control module and the detection host, the underwater position information of the detection host can be determined, thereby aiding in the location of the rescue target.

[0041] 2. By simultaneously outputting and receiving collinearly polarized light and cross-polarized light through the imaging module, the difference between the reflected light of the two polarized lights can be used to generate corresponding images. When the control module obtains real-time underwater images based on these two images, it can effectively distinguish backscattered light from target signal light by means of the common-mode suppression effect, which significantly improves the underwater imaging quality and enables intuitive and accurate identification of underwater targets, thus solving the problem of target blurring caused by scattering in traditional underwater imaging.

[0042] 3. The motion sensing module detects the motion and attitude information of the main unit, providing data support to the control module to accurately determine the detection azimuth angle and ensure the correspondence between imaging and detection direction. It also corrects the flow velocity information detected by the water environment monitoring module, offsetting the interference of the main unit's own motion on flow velocity measurement, resulting in corrected flow velocity information that better reflects the actual water conditions and avoids the impact of flow velocity data deviations on rescue judgment. The water depth information detected by the water environment monitoring module, combined with the cable length, allows the control module to accurately determine the location of the main unit, achieving spatial positioning of the detection area. Finally, the control module integrates real-time underwater images, detection azimuth angle, location information, and corrected flow velocity information to generate search and rescue information. This allows for rapid target location through clear images and comprehensive assessment of the speed at which the water current carries a person based on accurate location and flow velocity information, providing precise target location and movement trends for underwater rescue operations. This reduces the blindness of rescue efforts, improves the accuracy and efficiency of underwater rescue, and provides strong information support for rapid rescue and salvage. Furthermore, the operation and testing of the above systems require no specific professional knowledge and are relatively easy to use. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the structure of a turbid water search and rescue system in one embodiment of this application;

[0045] Figure 2 This is a schematic diagram illustrating the principle of determining the location of the detection host in one embodiment of this application;

[0046] Figure 3 This is a schematic diagram illustrating the principle of synchronous angle adjustment by the adjustment module in one embodiment of this application;

[0047] Figure 4 This is a schematic diagram illustrating the imaging principle of an imaging module in one embodiment of this application;

[0048] Figure 5 This is a schematic diagram of the structure of a turbid water search and rescue system in another embodiment of this application;

[0049] Figure 6 This is a schematic diagram of the processing flow of the processing module in one embodiment of this application;

[0050] Figure 7 This is a flowchart illustrating a method for searching and rescuing turbid water in one embodiment of this application.

[0051] Explanation of reference numerals in the attached figures:

[0052] 1-Turbid water search and rescue system, 11-Control module, 111-Cable winding and unwinding module, 112-Cable measurement module, 113-Processing module, 114-Display screen, 12-Detection host, 121-Imaging module, 1211-Collinearly polarized light emission module, 12111-First emission light source, 12112-Collinear polarizer, 1212-Cross-linearly polarized light emission module, 12121-Second emission light source, 12122-Cross-linear polarizer, 1213-Receiver camera, 1214-Analyzer, 122-Motion sensing module, 123-Water environment monitoring module, 13-Cable. Detailed Implementation

[0053] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0054] In some embodiments, such as Figure 1 As shown, the turbid water search and rescue system 1 provided in this application includes: a detection host 12 and a control module 11. The detection host 12 is connected to the control module 11 via a cable 13. By connecting the detection host 12 to the control module 11 via the cable 13, i.e., by using a wired connection, the problem of unstable wireless signal transmission can be effectively avoided, ensuring the stability of the signal transmitted from the detection host 12 to the control module 11. The detection host 12 is equipped with an imaging module 121, a motion sensing module 122, and a water environment monitoring module 123.

[0055] Imaging module 121 is used to output collinearly polarized light and cross-linearly polarized light in a time-division manner, and correspondingly receive the reflected light from the collinearly polarized light and cross-linearly polarized light in a time-division manner, generating collinearly polarized light images and cross-linearly polarized light images. Imaging module 121 outputs collinearly polarized light during one time period, and simultaneously receives the reflected light generated after the collinearly polarized light illuminates an underwater object, generating a collinearly polarized light image based on this set of light signals. During another time period, it switches to outputting cross-linearly polarized light, and similarly receives the reflected light from the cross-linearly polarized light, thereby generating a cross-linearly polarized light image. The entire process processes two different polarized lights in time periods, ensuring a one-to-one correspondence between the output of each polarized light and the received reflected light, ultimately obtaining two sets of polarized light images that can be used for subsequent image processing. It should be noted that the order in which the collinearly polarized light and cross-linearly polarized light are output can be interchanged.

[0056] The motion sensing module 122 is used to detect the motion and attitude information of the detection host 12. After the detection host 12 is placed underwater, it may move under the action of water flow, and its attitude may change frequently. Therefore, it is necessary to detect the motion and attitude information of the detection host 12. The detected information will provide a basis for the subsequent data analysis of the control module 11.

[0057] The water environment monitoring module 123 is used to detect water environment information at the location of the detection host 12. This water environment information includes flow velocity and water depth information. The flow velocity information includes real-time dynamic data such as the speed and direction of water flow at the location of the detection host 12. The water depth information is the vertical distance data from the water surface to the location of the detection host 12.

[0058] The control module 11 is used to obtain real-time underwater images based on collinear polarized light images and cross-linear polarized light images, determine the detection azimuth angle based on the motion and attitude information of the detection host 12, correct the flow velocity information based on the motion information of the detection host 12 to obtain corrected flow velocity information, determine the position information of the detection host 12 based on the water depth information and the length of the cable 13, and determine search and rescue information based on the real-time underwater images, detection azimuth angle, position information and corrected flow velocity information.

[0059] In the application, collinearly polarized light images and cross-polarized light images are acquired and processed by an algorithm to obtain real-time underwater images of turbid water, which are then used for target searching in turbid water bodies. First, the control module 11 controls the imaging module 121 to output collinearly polarized light and acquire one collinearly polarized image I. max Then, the imaging module 121 is controlled to output a cross-linear polarization light pattern, and N cross-linear polarization images are continuously acquired. min,i (=1,2,…,N). Using the collected I... max and I min,1=i And based on the definition of polarization degree, the polarization degree distribution image can be obtained. The corresponding formula is as follows:

[0060]

[0061] Where x and y represent the x-row and y-column of an image, respectively; I max (x, y) represents the pixel values ​​of a collinearly polarized image in row x and column y; min,i=1 (x,y) represents the pixel value of the cross-linear polarization image in row x and column y of the first cross-linear polarization image, and P(x,y) represents the polarization degree distribution.

[0062] At the same time, according to the formula:

[0063]

[0064] The P required for polarization imaging processing can be obtained. scat and P targ , where P scat P represents the degree of polarization of the backscattered light. targ S represents the polarization degree of the target signal light. min and S max B represents the darkest and brightest target signal light. min and B max Represents the darkest and brightest backscattered light. Ignoring the effect of object scattering, in the formula...

[0065]

[0066]

[0067]

[0068]

[0069] Xselected represents a manually selected area that is configured and tested before leaving the factory.

[0070] Because the grayscale of an image is compressed to a very narrow range in turbid water, especially as the turbidity of the water increases, the coverage of the target signal light by backscattered light intensifies. This leads to I max The image produces overexposed gray areas and I min The attenuation of the target signal light intensity in the image ultimately leads to further compression of the grayscale space of the captured image. To mitigate the degree of grayscale compression, by adjusting I... min Gray-level histogram equalization is used to obtain I with adjusted gray levels. min Histogram data It is worth noting that, due to the I collected in highly turbid water bodies... max The image contains a large number of overexposed gray areas, which is detrimental to gray-level histogram equalization. Therefore, in actual processing, only I needs to be adjusted. min The polarization degree distribution map P(x,y) reflects the polarization relationship between two orthogonally polarized images, containing information about the target and backscattered light. To maintain the polarization relationship, the processed I can be obtained using the formulas above. max Histogram data is as follows:

[0071]

[0072] Based on what has been obtained , P scat and P targ The following formula can be used to calculate and obtain real-time underwater images:

[0073]

[0074] Based on water depth data and cable length 13, the lateral distance of the detection host 12 from the water entry point can be obtained using trigonometric functions, thus determining the position information of the detection host 12. For example... Figure 2As shown, assuming the cable 13 is extended to a length of 'a' meters, due to the water flow velocity, the detection host 12 does not enter the water vertically for 'a' meters, but rather at an angle to the entry point. The depth sensor measures the water depth as 'b' meters, and using trigonometric functions, the lateral distance of the detection host 12 from the entry point can be calculated as 'C' meters. Based on the motion information of the detection host 12, the flow velocity information can be corrected, effectively eliminating the motion of the detection host 12 itself and obtaining accurate water flow information. After determining the underwater real-time image, detection azimuth, position information, and corrected flow velocity information, if the rescue target is captured in the underwater real-time image, the location and movement trend of the rescue target can be determined (search and rescue information can include the location and movement trend of the rescue target), thus providing strong information support for rapid rescue and salvage.

[0075] The aforementioned turbid water search and rescue system 1, through the imaging module 121, outputs and receives collinearly polarized light and cross-polarized light in a time-division manner. It can generate corresponding images by utilizing the difference in reflected light between the two polarizations. When the control module 11 processes these two images to obtain real-time underwater images, it can effectively distinguish backscattered light from target signal light by leveraging the common-mode suppression effect, significantly improving underwater imaging quality. This enables intuitive and accurate identification of underwater targets, solving the problem of target blurring caused by scattering in traditional underwater imaging. The motion sensing module 122 detects the motion and attitude information of the detection host 12. On one hand, this provides data support for the control module 11 to accurately determine the detection azimuth angle, ensuring the correspondence between imaging and detection directions. On the other hand, it can be used to correct the flow velocity information detected by the water environment monitoring module 123, offsetting the interference of the detection host 12's own motion on flow velocity measurement, obtaining corrected flow velocity information that better reflects the actual water conditions, and avoiding the impact of flow velocity data deviation on rescue judgment. The water depth information detected by the water environment monitoring module 123, combined with the length of the cable 13, allows the control module 11 to accurately determine the location of the detection host 12, achieving spatial positioning of the detection area. Finally, the control module 11 integrates real-time underwater images, detection azimuth, location information, and corrected flow velocity information to generate search and rescue information. This allows for rapid target location tracking through clear images and a comprehensive assessment of the speed at which the water current carries a person, based on accurate location and flow velocity information. This provides crucial data such as precise target location and movement trends for underwater rescue operations, reducing blind spots in rescue efforts and improving the accuracy and efficiency of underwater rescue, thus providing strong information support for rapid rescue and salvage. Furthermore, the operation and testing of the above system require no specific professional knowledge and is relatively easy to use.

[0076] In some embodiments, the imaging module 121 includes: a collinear polarized light emitting module, a cross-linear polarized light emitting module, a receiving module, and an adjustment module.

[0077] like Figure 3 and Figure 4As shown, the collinearly polarized light emitting module 1211 includes a first emitting light source 12111 and a collinear polarizer 12112. The cross-polarized light emitting module 1212 includes a second emitting light source 12121 and a cross-polarized polarizer 12122. The receiving module includes an analyzer 1214 and a receiving camera 1213. The adjustment module is used to synchronously control the collinearly polarized light emitting module 1211 and the cross-polarized light emitting module 1212 to adjust their emission angles.

[0078] The first emitting light source 12111 and the second emitting light source 12121 can be white LED emitting light sources. The collinear polarization emitting module 1211 may also include a first protective window, which can be structurally integrated with the first emitting light source 12111, the collinear polarizer 12112, and the first protective window into a single unit. The cross-polarization emitting module 1212 may also include a second protective window, which can be structurally integrated with the second emitting light source 12121, the cross-polarizer 12122, and the second protective window into a single unit.

[0079] Both the collinearly polarized light emitting module 1211 and the cross-polarized light emitting module 1212 convert the illumination beam emitted by the light source into stably output linearly polarized light after passing through a polarizer. The polarized light is then emitted after passing through a protective window. The protective window is made of transparent glass. To ensure that the emitted light does not refract when passing through the protective window, the polarizer and the protective window need to be on the same optical axis. Therefore, the emitting light source, polarizer, and protective window are designed as a whole, allowing for overall offset when the emitted light angle is shifted, ensuring consistent optical path.

[0080] The adjustment module can employ a micro-motor. The collinear polarized light emission module 1211 and the cross-polarized light emission module 1212 are synchronously controlled by the micro-motor to ensure that the two optical paths can be adjusted synchronously at the same angle when adjusting the emission angle, with an adjustment angle error of less than 2 mil. Ultimately, this ensures that the two linearly polarized light beams can act on the target at the same distance and angle, guaranteeing imaging accuracy. In addition to its protective and light-transmitting functions, the protective window must also be waterproof and adjustable left and right. The protective window and the housing of the detection host 12 can be connected via a gooseneck silicone flexible tube.

[0081] The receiving module may include a third protection window, the receiving camera 1213 may be a CCD camera, and the analyzer 1214 may be rotatable. For the convenience of optical axis adjustment, the three components may be integrated into a whole.

[0082] In the application, the imaging module 121 operates as follows: the control module 11 controls the illumination of the first emitting light source 12111 and the second emitting light source 12121 in a time-division manner; the imaging module 121 outputs collinearly polarized light and cross-polarized light in a time-division manner. After the polarized light illuminates the target object, it is reflected, and the reflected light passes through the imaging module 121 and finally reaches the CCD for imaging. The acquired images of the two polarized lights are sent to the control module 11, which processes them to obtain a clear real-time underwater image, achieving clear imaging of the underwater target.

[0083] In some embodiments, the motion sensing module 122 includes a motion sensor, a gyroscope, and an electronic compass. The motion sensor is used to detect the motion information of the detection host 12. The gyroscope and electronic compass work together to detect the attitude information of the detection host 12.

[0084] The motion sensor may include an accelerometer. The motion sensor alone is responsible for detecting motion information, specifically capturing real-time motion data such as the underwater speed, displacement changes, acceleration, and deceleration of the main unit 12. The gyroscope and electronic compass work together to detect attitude information. The gyroscope primarily senses the main unit's rotational angular velocity and tilt trend, while the electronic compass provides orientation reference. Together, they accurately determine the main unit's spatial attitude, such as tilt angle and whether it maintains a horizontal or vertical orientation, ultimately providing a complete dynamic detection basis for the subsequent data processing by the control module 11.

[0085] Understandably, due to the turbidity of the water, once the detection unit 12 is submerged, the operator cannot observe its attitude or imaging direction, making it impossible to identify the direction of the target. The built-in electronic compass sensor can accurately locate north, assisting in identifying the observation direction of the detection unit 12. Since the detection unit 12 operates in water, buoyancy, water flow, and debris may prevent it from being placed flat during detection. The built-in gyroscope calculates the attitude of the detection unit 12 in the water, allowing the operator to accurately identify the observation direction.

[0086] In some embodiments, the water environment monitoring module 123 includes a flow velocity sensor and a water depth sensor. The flow velocity sensor is used to detect the flow velocity information at the location of the detection host 12. The water depth sensor is used to detect the water depth information at the location of the detection host 12.

[0087] The measurement of water flow velocity should be adaptable to various complex water bodies such as rivers, lakes, canals, and reservoirs, and should not be interfered with by the detection host 12. Therefore, the flow velocity sensor can be designed to be externally mounted on the detection host 12, and the flow velocity sensor can be a propeller-type sensor. The water depth sensor can be a pressure level gauge.

[0088] It should be noted that the electrical components of the water environment monitoring module 123 and the detection host 12 are connected via a highly waterproof connector. The structure can utilize a rigid Bourdon tube connection, primarily to ensure the safety of the electrical cables 13 and to prevent the water environment monitoring module 123 from obstructing the imaging module 121 during operation. Compared to a rigid connection, the Bourdon tube can bend and dislodge any floating objects, preventing damage to the equipment.

[0089] In some embodiments, the water environment monitoring module 123 further includes a water temperature sensor.

[0090] The water temperature sensor is used to detect the water temperature at the location of the detection host 12. The control module 11 is also used to determine the temperature loss information of the rescue target based on the water temperature information and the corrected flow rate information.

[0091] It's understandable that, after determining the water flow rate and temperature, the downstream speed and body temperature of the rescued target can be quickly calculated based on these parameters. The faster the water flow, the faster the body temperature drops. The core formula is based on Newton's Law of Cooling, a theory of forced convection heat transfer. This law describes the rate of convective heat transfer between a solid surface and a fluid, and it forms the basis for calculating the rate of convective heat transfer between water and human skin. The corresponding formula is as follows:

[0092] Q = h × A × (Ts - Tf)

[0093] Where Q represents the heat transferred through convection per unit time (unit: W, watts), i.e., heat dissipation power. The larger the Q value, the more heat is removed from the body per unit time, and the faster the body temperature drops. H represents the convective heat transfer coefficient (unit: ... (watts per square kelvin); this is a key parameter, directly related to the water flow rate: the faster the flow rate, the larger the h value. A represents the surface area of ​​the human body in contact with water (unit: m², square meter). Ts represents the temperature of the human skin surface (unit: K or °C, Kelvin or °C). Tf represents the temperature of the water flow (unit: K or °C). (Ts - Tf) represents the temperature difference between the skin surface and the water flow; the greater the temperature difference, the faster the heat dissipation.

[0094] For forced flow of water on a solid surface, the relationship between the value of h and the water velocity (usually expressed as the average fluid velocity v) is generally fitted to experimental data into an empirical formula of the following form:

[0095] h ∝ v^n

[0096] Where v represents the velocity of the water flow relative to the human body surface (unit: m / s, meters per second). N represents an empirical exponent, which can be 0.6.

[0097] In this application, the body's hypothermia can be accurately assessed to determine the condition of the rescued person, facilitating timely retrieval and rescue downstream, thereby improving rescue efficiency and the survival rate of the rescued person.

[0098] In some embodiments, such as Figure 5 As shown, the control module 11 includes: a cable take-up and release module 111, a cable measurement module 112, a processing module 113, and a display screen 114.

[0099] The cable take-up and take-down module 111 is used to control the sending and receiving of the cable 13 between the detection host 12 and the control module 11. The cable measurement module 112 is used to determine the length of the cable 13 between the detection host 12 and the control module 11.

[0100] The processing module 113 is used to obtain real-time underwater images based on collinearly polarized light images and cross-linearly polarized light images; determine the detection azimuth angle based on the motion and attitude information of the detection host 12; correct the flow velocity information based on the motion information of the detection host 12 to obtain corrected flow velocity information; determine the position information of the detection host 12 based on the water depth information and the length of the cable 13; and determine search and rescue information and control information for the display screen 114 based on the real-time underwater images, detection azimuth angle, position information, and corrected flow velocity information. The display screen 114 is used to display information based on the control information.

[0101] The control module 11 can be designed as a control box, integrating a cable retraction module 111, a cable measurement module 112, a processing module 113, and a display screen 114. This design allows for modularity of the equipment, making it easy to carry and deploy quickly, thus simplifying operation and fully considering fire rescue scenarios. A wired connection can be used between the display screen 114 and the cable retraction module 111 to prevent the display screen from being lost in the water due to boat movement or rescue missions. The wired connection also effectively avoids the problem of unstable wireless signal transmission. The cable retraction module 111 and the cable measurement module 112 are integrated into the box, effectively protecting the electrical components from exposure and preventing corrosion from mud and debris, thus increasing product lifespan. A silicone brush can be fixed to the receiving / receiving port of the cable retraction module 111 within the box, cleaning the cable 13 during cable retrieval and preventing debris from entering the box. It should be noted that the dragging cable 13 can be achieved through bearings and electric slip rings, and the cable measurement module 112 can include a Hall sensor to measure the length of the cable 13.

[0102] The tow cable 13 can be retrieved and deployed using either a motor or manually. Motor-assisted deployment allows for precise control of the water depth and one-button retrieval, greatly simplifying operation. Manual deployment is configured primarily to address the issue of debris snagging the cable 13 in turbid water, potentially causing the retrieval force to exceed the motor's load. To ensure equipment safety, an overload alarm will be triggered when the motor is overloaded, allowing for manual retrieval of the cable 13. In this case, the motor can either stop operating or assist with the retrieval process.

[0103] Understandable, such as Figure 6 As shown, the processing module 113 can receive collinearly polarized light images and cross-polarized light images generated by the imaging module 121. By analyzing the differences between the two polarized light images and suppressing backscattered light interference from the water, a clear real-time underwater image is obtained. Simultaneously, the processing module 113 utilizes the motion and attitude information of the detection host 12 transmitted by the motion sensing module 122 to calculate and determine the current detection azimuth angle of the detection host 12, thus clarifying the spatial direction corresponding to the image capture. Next, based on the motion information of the detection host 12, the processing module 113 offsets the influence of the host's own movement on the flow velocity information measured by the water environment monitoring module 123, thereby obtaining corrected flow velocity information that better reflects the actual water conditions. Furthermore, by combining the water depth information detected by the water environment monitoring module 123 with the cable 13 extension length, the specific underwater position information of the detection host 12 is calculated using spatial positioning logic. Finally, the processing module 113 integrates the underwater real-time image, detection azimuth, location information, and corrected flow velocity information, and comprehensively analyzes and generates search and rescue information that can guide the rescue. At the same time, it generates control information for controlling the display screen 114. The display screen 114 will then display at least one of the underwater real-time image, detection azimuth, location information, corrected flow velocity information, and search and rescue information based on this control information for the operator to view.

[0104] In some embodiments, the control module 11 is located on the hull; the control module 11 is also used to acquire the hull's state information, determine the target flow velocity information based on the hull's state information and the corrected flow velocity information, and correct the search and rescue information based on the target flow velocity information.

[0105] In applications where the search and rescue area is large, rescue personnel often need to use boats for the search. In this case, the control module 11 is placed on the hull, and the detection host 12 is placed underwater. The hull's state information includes its direction of motion and its motion status, such as upstream, downstream, and stationary. By acquiring the hull's state information, the control module 11 can determine that the hull's own motion affects the detected water flow velocity. Therefore, the control module 11 combines the acquired hull state information with the real-time acquired corrected flow velocity information to perform comprehensive calculations. By eliminating the interference of the hull's own motion on the relative velocity of the water flow, it calculates the target flow velocity information that truly reflects the environment in which the search and rescue target is located. This information is a key parameter for predicting the target's drift trajectory. If the influence of the hull state is ignored and only the original corrected flow velocity information is used, it will lead to errors in the target flow velocity calculation. Finally, the control module 11 corrects the initial search and rescue information based on the determined target flow velocity information. This search and rescue information can include the delineation of the search and rescue area, the planning of the search path, the prediction of the target drift time, etc., so as to ensure that the search and rescue operation can accurately cover the area where the target may appear, and avoid the reduction of search and rescue efficiency or the omission of the target due to the error in the flow velocity judgment.

[0106] In some embodiments, please refer to Figure 7 This application provides a method for searching and rescuing turbid water bodies, which includes the following steps S701 to S706.

[0107] S701: Acquires collinearly polarized light images, cross-polarized light images, motion and attitude information of the detection host, and water environment information.

[0108] S702: Obtain real-time underwater images based on collinearly polarized light images and cross-linearly polarized light images.

[0109] S703: Determine the detection azimuth angle based on the motion and attitude information of the detection host.

[0110] S704: Based on the motion information of the detection host, the flow velocity information is corrected to obtain the corrected flow velocity information.

[0111] S705: Determine the location information of the detection host based on water depth information and cable length.

[0112] S706: Determine search and rescue information based on real-time underwater images, detection azimuth, location information, and corrected flow velocity information.

[0113] It should be noted that the turbid water search and rescue method provided in this application embodiment and the turbid water search and rescue system provided in this application embodiment are based on the same inventive concept. Therefore, the specific implementation of this embodiment can refer to the implementation of the aforementioned turbid water search and rescue system, and the repeated parts will not be described again.

[0114] In some embodiments, an electronic device provided in this application includes a processor and a memory; the memory stores a computer program, wherein the computer program, when executed by the processor, implements the above-described turbid water search and rescue method.

[0115] Specifically, the processor may include, for example, a general-purpose microprocessor, an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor may also include onboard memory for caching purposes. The processor may be a single processing unit or multiple processing units for performing different actions of the method flow according to embodiments of this application.

[0116] Memory can be any medium capable of containing, storing, transmitting, propagating, or transmitting instructions. For example, memory can include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, instruments, or propagation media. Specific examples of memory include: magnetic storage devices such as magnetic tape or hard disk drives (HDDs); optical storage devices such as optical discs (CD-ROMs); and also random access memory (RAM) or flash memory; and / or wired / wireless communication links.

[0117] This application also provides a computer-readable medium storing a computer program thereon, which, when executed by a processor, implements the aforementioned method for searching and rescuing turbid water. This computer-readable medium may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into that device / apparatus / system. The aforementioned computer-readable medium carries one or more programs, which, when executed, implement the method as described in the embodiments of this application.

[0118] According to embodiments of this application, a computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wired, optical fiber, radio frequency signals, etc., or any suitable combination thereof.

[0119] Those skilled in the art will understand that the features described in the various embodiments of this application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this application. In particular, the features described in the various embodiments of this application can be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application. Therefore, the scope of this application should not be limited to the above embodiments. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A search and rescue system for turbid water, characterized in that, include: The detection host and control module are connected to the control module via a cable. The detection host is equipped with an imaging module, a motion sensing module and a water environment monitoring module. The imaging module is used to output collinearly polarized light and cross-linearly polarized light in a time-division manner, and to receive the reflected light of collinearly polarized light and cross-linearly polarized light in a corresponding time-division manner, thereby generating collinearly polarized light images and cross-linearly polarized light images. The motion sensing module is used to detect the motion and posture information of the detection host; The water environment monitoring module is used to detect the water environment information at the location of the detection host, and the water environment information includes flow velocity information and water depth information; The control module is used to obtain real-time underwater images based on the collinear polarized light image and the cross-linear polarized light image, determine the detection azimuth angle based on the motion and attitude information of the detection host, correct the flow velocity information based on the motion information of the detection host to obtain corrected flow velocity information, determine the position information of the detection host based on the water depth information and the cable length, and determine search and rescue information based on the real-time underwater image, the detection azimuth angle, the position information, and the corrected flow velocity information. The search and rescue information includes the position of the rescue target and the movement trend of the rescue target. The control module is located on the hull; the control module is also used to acquire the hull's status information, determine the target flow velocity information based on the hull's status information and the corrected flow velocity information, and correct the search and rescue information based on the target flow velocity information.

2. The turbid water search and rescue system as described in claim 1, characterized in that, The imaging module includes: a collinear polarization light emission module, a cross-linear polarization light emission module, a receiving module, and an adjustment module; The collinear polarization light emission module includes a first emission light source and a collinear polarizer; The cross-linear polarization light emission module includes a second emission light source and a cross-linear polarizer; The receiving module includes a polarizer and a receiving camera; The adjustment module is used to synchronously control the colinearly polarized light emission module and the cross-linearly polarized light emission module to adjust the emission angle.

3. The turbid water search and rescue system as described in claim 1, characterized in that, The motion sensing module includes: a motion sensor, a gyroscope, and an electronic compass; The motion sensor is used to detect the motion information of the detection host; The gyroscope and electronic compass work together to detect the attitude information of the detection host.

4. The turbid water search and rescue system as described in claim 1, characterized in that, The water environment monitoring module includes: a flow velocity sensor and a water depth sensor; The flow velocity sensor is used to detect the flow velocity information at the location of the detection host. The depth sensor is used to detect the water depth information at the location of the detection host.

5. The turbid water search and rescue system as described in claim 4, characterized in that, The water environment monitoring module also includes: a water temperature sensor; The water temperature sensor is used to detect the water temperature information at the location of the detection host; The control module is also used to determine the hypothermia information of the rescue target based on the water temperature information and the corrected flow rate information.

6. The turbid water search and rescue system as described in claim 1, characterized in that, The control module includes: a cable take-up and release module, a cable measurement module, a processing module, and a display screen; The cable retraction module is used to control the retraction and extension of the cable between the detection host and the control module; The cable measurement module is used to determine the length of the cable between the detection host and the control module; The processing module is used to obtain a real-time underwater image based on the collinear polarized light image and the cross-linear polarized light image; determine the detection azimuth angle based on the motion and attitude information of the detection host; correct the flow velocity information based on the motion information of the detection host to obtain corrected flow velocity information; determine the position information of the detection host based on the water depth information and the cable length; and determine search and rescue information and control information for the display screen based on the real-time underwater image, the detection azimuth angle, the position information, and the corrected flow velocity information. The display screen is used to display information based on the control information.

7. A method for search and rescue in turbid water, characterized in that, The turbid water search and rescue method is performed based on the turbid water search and rescue system as described in any one of claims 1 to 6; the turbid water search and rescue method includes: Acquire the collinearly polarized light image, the cross-linearly polarized light image, the motion and attitude information of the detection host, and the water environment information; The underwater real-time image is obtained based on the collinear polarized light image and the cross-linear polarized light image; The detection azimuth angle is determined based on the motion and attitude information of the detection host. The flow velocity information is corrected based on the motion information of the detection host to obtain corrected flow velocity information; The location information of the detection host is determined based on the water depth information and the cable length. Search and rescue information is determined based on the underwater real-time image, the detection azimuth angle, the location information, and the corrected flow velocity information. The search and rescue information includes the location of the rescue target and the movement trend of the rescue target. The vessel's hull status information is acquired, and the target flow velocity information is determined based on the hull status information and the corrected flow velocity information. The search and rescue information is then corrected based on the target flow velocity information.

8. An electronic device, characterized in that, It includes a processor and a memory; the memory stores a computer program, wherein the computer program, when executed by the processor, implements the turbid water search and rescue method as described in claim 7.

9. A computer storage medium, characterized in that, It stores a computer program, wherein the computer program, when executed by a processor, implements the turbid water search and rescue method as described in claim 7.

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